Object handling system and method

ABSTRACT

An object handling system is described, the system having two substantially perpendicular sets of rails forming a grid above a workspace, the workspace having a plurality of stacked containers. The system includes a series of robotic load handling devices operating on the grid above the workspace, the load handling devices having a body mounted on wheels. The robotic devices can move around the grid under instruction from a computing device, the robotic devices being moved to a point on the grid above a stack of containers and then, using a lifting device, engage and lift a container from the stack. The container is then moved to a point where the objects in the container can be accessed. Modifications to the workspace and grid are described that allow vehicles and roll cages to be used to move stacks from the workspace to a point outside the workspace or from outside the workspace into the workspace.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/555,927, filed Sep. 5, 2017, which is a U.S. National Phaseapplication of International Application No. PCT/EP2016/058366, filedApr. 15, 2016, each incorporated herein by reference in its entirety.

The present invention relates an object handling system and method. Morespecifically but not exclusively, it relates to a storage and retrievalsystem using stackable containers in a grid structure, where thecontainers, holding objects, are transported using robotic handlingdevices travelling on top of the grid structure. Furthermore, it relatesto a range of variations to the grid structure that enables theefficient exchange of containers between handling systems at differentlocations.

This application claims priority from UK Patent Application Nos.GB1506365.4 filed 15 Apr. 2015, GB1514428.0 filed 13 Aug. 2015,GB1518089.6 filed 13 Oct. 2015, GB1602332.7 filed 9 Feb. 2016,GB1518091.2 filed 13 Oct. 2015, GB1518094.6 filed 13 Oct. 2015,GB1518111.8 filed 13 Oct. 2015, GB1518115.9 filed 13 Oct. 2015,GB1518117.5 filed 13 Oct. 2015 and GB1603328.4 filed 25 Feb. 2016 thecontent of all these applications hereby being incorporated byreference.

Some commercial and industrial activities require systems that enablethe storage and retrieval of a large number of different products. Oneknown type of system for the storage and retrieval of items in multipleproduct lines involves arranging storage bins or containers in stacks ontop of one another, the stacks being arranged in rows. The storage binsor containers are accessed from above, removing the need for aislesbetween the rows and allowing more containers to be stored in a givenspace.

Methods of handling containers stacked in rows have been well known fordecades. In some such systems, for example as described in U.S. Pat. No.2,701,065, to Bertel comprise free-standing stacks of containersarranged in rows in order to reduce the storage volume associated withstoring such containers but yet still providing access to a specificcontainer if required. Access to a given container is made possible byproviding relatively complicated hoisting mechanisms which can be usedto stack and remove given containers from stacks. The cost of suchsystems are, however, impractical in many situations and they havemainly been commercialised for the storage and handling of largeshipping containers.

The concept of using freestanding stacks of containers and providing amechanism to retrieve and store specific containers has been developedfurther, for example as described in EP 0 767 113 B to Cimcorp. '113discloses a mechanism for removing a plurality of stacked containers,using a robotic load handler in the form of a rectangular tube which islowered around the stack of containers, and which is configured to beable to grip a container at any level in the stack. In this way, severalcontainers can be lifted at once from a stack. The movable tube can beused to move several containers from the top of one stack to the top ofanother stack, or to move containers from a stack to an externallocation and vice versa. Such systems can be particularly useful whereall of the containers in a single stack contain the same product (knownas a single-product stack).

In the system described in '113, the height of the tube has to be asleast as high as the height of the largest stack of containers, so thatthat the highest stack of containers can be extracted in a singleoperation. Accordingly, when used in an enclosed space such as awarehouse, the maximum height of the stacks is restricted by the need toaccommodate the tube of the load handler.

EP 1037828 B1 (Autostore) the contents of which are incorporated hereinby reference, describes a system in which stacks of containers arearranged within a frame structure. A system of this type is illustratedschematically in FIGS. 1 to 4 of the accompanying drawings. Robotic loadhandling devices can be controllably moved around the stack on a systemof tracks on the upper most surface of the stack.

One form of robotic load handling device is further described inNorwegian patent number 317366, the contents of which are incorporatedherein by reference FIGS. 3(a) and 3(b) are schematic perspective viewsof a load handling device from the rear and front, respectively, andFIG. 3(c) is a schematic front perspective view of a load handlingdevice lifting a bin.

A further development of load handling device is described in UK PatentApplication No GB1413155.1 filed 24 Jul. 2014 incorporated herein byreference, where each robotic load handler only covers one grid space,thus allowing higher density of load handlers and thus higher throughputof a given size system.

With these types of systems, there could from time to time be a need totransfer large numbers of storage containers from one system to anotherone at a different location. One such example is if a company operatesmultiple fulfilment centres servicing different geographical areas, suchas described in UK Patent Application No GB 1419498.9. Variable demandmay mean that some items are running out of stock at one location, whilethey are in surplus at another location. It may also be beneficial toreceive and put in to containers a large quantity of an item at oneplace, rather than many smaller quantities of the same item at severallocations. In such cases, there is a need to find an efficient way oftransferring large number of containers from a storage system to avehicle and then from the vehicle into another storage system. Thepresent invention provides a number of such efficient ways.

According to the invention there is provided an object handling systemcomprising two substantially perpendicular sets of rails forming a gridabove a workspace, the workspace comprising a plurality of stackedcontainers, the handling system further comprising a plurality ofrobotic load handling devices operating on the grid above the workspace,the load handling devices comprising a body mounted on wheels, a firstset of wheels being arranged to engage with at least two rails of thefirst set of rails, the second set of wheels being arranged to engagewith at least two rails of the second set of rails, the first set ofwheels being independently moveable and driveable with respect to thesecond set of wheels such that when in motion only one set of wheels isengaged with the grid at any one time thereby enabling movement of theload handling device along the rails to any point on the grid by drivingonly the set of wheels engaged with the rails, the load handling devicesfurther comprising means for removing or replacing containers from thestacks, wherein a portion of the stacks of containers are independentlymoveable with respect to the remaining stacks in the workspace.

According to the invention there is further provided an object handlingsystem comprising two substantially perpendicular sets of rails forminga grid above a workspace, the workspace comprising a plurality ofstacked containers, the handling system further comprising a pluralityof robotic load handling devices operating on the grid above theworkspace, the load handling devices comprising a body mounted onwheels, a first set of wheels being arranged to engage with at least tworails of the first set of rails, the second set of wheels being arrangedto engage with at least two rails of the second set of rails, the firstset of wheels being independently moveable and driveable with respect tothe second set of wheels such that when in motion only one set of wheelsis engaged with the grid at any one time thereby enabling movement ofthe load handling device along the rails to any point on the grid bydriving only the set of wheels engaged with the rails, the load handlingdevices further comprising means for removing or replacing containersfrom the stacks wherein a portion of the grid extends beyond theworkspace such that at least one stack of containers may be positionedunder the extended grid, the system being provided with means for movingload handling devices to the extended grid to enable individualcontainers to be removed from or replaced into the workspace to or fromstacks of containers located outside the workspace.

According to a further aspect of the invention there is provided avehicle for use with an object handling system, the object handlingsystem comprising two substantially perpendicular sets of rails forminga grid above a workspace, the workspace comprising a plurality ofstacked containers, the handling system further comprising a pluralityof robotic load handling devices operating on the grid above theworkspace, the load handling devices comprising a body mounted onwheels, a first set of wheels being arranged to engage with at least tworails of the first set of rails, the second set of wheels being arrangedto engage with at least two rails of the second set of rails, the firstset of wheels being independently moveable and driveable with respect tothe second set of wheels such that when in motion only one set of wheelsis engaged with the grid at any one time thereby enabling movement ofthe load handling device along the rails to any point on the grid bydriving only the set of wheels engaged with the rails, the load handlingdevices further comprising means for removing or replacing containersfrom the stacks, wherein the vehicle comprises a portion of grid, thegrid being sized and shaped so as to interface with the grid of theobject handling system.

According to the invention there is additionally provided an objecthandling system comprising two substantially perpendicular sets of railsforming a grid above a workspace, the workspace comprising a pluralityof stacked containers, the handling system further comprising aplurality of robotic load handling devices operating on the grid abovethe workspace, the load handling devices comprising a body mounted onwheels, a first set of wheels being arranged to engage with at least tworails of the first set of rails, the second set of wheels being arrangedto engage with at least two rails of the second set of rails, the firstset of wheels being independently moveable and driveable with respect tothe second set of wheels such that when in motion only one set of wheelsis engaged with the grid at any one time thereby enabling movement ofthe load handling device along the rails to any point on the grid bydriving only the set of wheels engaged with the rails, the load handlingdevices further comprising means for removing or replacing containersfrom the stacks, the object handling system further comprising alignmentmeans, the alignment means being located such that vehicles for removingand transporting a plurality of containers from the stacks within thesystem to alternative locations may be accurately positioned to allowtransfer of said containers via load handling devices to said vehicles.

24. An object handling system according to claim 23 further comprisinginterface means, the interface means comprising a portion ofsubstantially horizontal grid structure thereby enabling the vehicle andthe system to be temporarily joined to allow movement of load handlingdevices therebetween.

The invention will now be described with reference to the accompanyingdiagrammatic drawings in which:

FIG. 1 is a schematic perspective view of a frame structure for housinga plurality of stacks of bins in a known storage system;

FIG. 2 is a schematic plan view of part of the frame structure of FIG.1;

FIGS. 3(a) and 3(b) are schematic perspective views, from the rear andfront respectively, of one form of robotic load handling device for usewith the frame structure of FIGS. 1 and 2, and FIG. 3(c) is a schematicperspective view of the known load handler device in use lifting a bin;

FIG. 4 is a schematic perspective view of a known storage systemcomprising a plurality of load handler devices of the type shown inFIGS. 3(a), 3(b) and 3(c), installed on the frame structure of FIGS. 1and 2, together with a robotic service device in accordance with oneform of the invention;

FIG. 5a is a schematic perspective view of the storage system of FIGS. 1to 4 in accordance with a first embodiment of the invention, in which anumber of the stacks of bins are detachable and moveable independentlyof the remainder of the stacks of bins, the stacks of bins being locatedin at least one roll cage;

FIG. 5b is a schematic perspective view of the system of FIG. 5a showingthe roll cage in situ in the stacks of bins, one robotic load handlingdevice depositing a bin into the roll cage;

FIG. 6 is a schematic perspective view of the storage system of FIGS. 1to 4 in accordance with a second embodiment of the invention, in which aportion of the grid extends beyond the storage system and is supportedat a height such that a roll cage may be positioned thereunder tofacilitate automatic loading of the roll cage using load handlingdevices operative on the grid of the storage and retrieval system;

FIG. 7 is a schematic perspective view of a section of frame structuresupported in position at a height such that a trailer or other vehiclemay be moved under the section of frame structure;

FIG. 8 is a schematic perspective view of FIG. 7 showing the trailer 50located under the section of frame structure, the section of framestructure supporting robotic load handling devices above the trailer,the load handling devices removing or depositing bins from the trailer;

FIG. 9 shows a third embodiment of the invention in which the bins inthe trailer are stacked in a tighter packing arrangement than the binsstacked in the corresponding storage and retrieval system, the framestructure located above the trailer being provided with a moveable trackto enable robotic load handling devices from such a warehouse to bemoved in to position above a stack of bins and to remove or deposit binsfrom the trailer to the warehouse or vice versa, irrespective of thecomparative packing density of the bins;

FIGS. 10a and 10b show a schematic perspective view of the embodiment ofFIG. 9 in which the bins in the trailer are stacked in a tighter packingarrangement than the bins stacked in a corresponding storage andretrieval system, the frame structure located above the trailer beingprovided with a moveable track to enable robotic load handling devicesfrom such a warehouse to be moved in to position above a stack of binsand to remove or deposit bins from the trailer to the warehouse or viceversa, irrespective of the comparative packing density of the bins;

FIGS. 11a and 11b show a perspective view of a further form of theembodiment of the invention of FIGS. 9 and 10 but in which the framestructure above the trailer or other vehicle is provided with aplurality of moveable tracks;

FIGS. 12a and 12b show a perspective view of a fourth embodiment of theinvention in which at least a portion of a vehicle roof comprises aportion of grid, the grid being shaped and sized so as to interface witha grid structure of the storage and retrieval system of a storage andretrieval system the system further comprising alignment means to enablethe vehicle and the two grid portions to be relatively aligned; and

FIG. 12c is a schematic perspective view of the vehicle of FIG. 12a insitu against the storage and retrieval system, the vehicle having beingaligned using the system of FIG. 12b , the storage and retrieval systembeing provided with an interface portion of grid structure to allowsmooth movement of load handling devices from the storage and retrievalsystem to the grid forming part of the vehicle and vice versa.

As shown in FIGS. 1 and 2, stackable containers, known as bins 10, arestacked on top of one another to form stacks 12. The stacks 12 arearranged in a grid frame structure 14 in a warehousing or manufacturingenvironment. FIG. 1 is a schematic perspective view of the framestructure 14, and FIG. 2 is a top-down view showing a single stack 12 ofbins 10 arranged within the frame structure 14. Each bin 10 typicallyholds a plurality of product items (not shown), and the product itemswithin a bin 10 may be identical, or may be of different product typesdepending on the application.

The frame structure 14 comprises a plurality of upright members 16 thatsupport horizontal members 18, 20. A first set of parallel horizontalmembers 18 is arranged perpendicularly to a second set of parallelhorizontal members 20 to form a plurality of horizontal grid structuressupported by the upright members 16. The members 16, 18, 20 aretypically manufactured from metal. The bins 10 are stacked between themembers 16, 18, 20 of the frame structure 14, so that the framestructure 14 guards against horizontal movement of the stacks 12 of bins10, and guides vertical movement of the bins 10.

The top level of the frame structure 14 includes rails 22 arranged in agrid pattern across the top of the stacks 12. Referring additionally toFIGS. 3 and 4, the rails 22 support a plurality of robotic load handlingdevices 30. A first set 22 a of parallel rails 22 guide movement of theload handling devices 30 in a first direction (X) across the top of theframe structure 14, and a second set 22 b of parallel rails 22, arrangedperpendicular to the first set 22 a, guide movement of the load handlingdevices 30 in a second direction (Y), perpendicular to the firstdirection. In this way, the rails 22 allow movement of the load handlingdevices 30 in two dimensions in the X-Y plane, so that a load handlingdevice 30 can be moved into position above any of the stacks 12.

Each load handling device 30 comprises a vehicle 32 which is arranged totravel in the X and Y directions on the rails 22 of the frame structure14, above the stacks 12. A first set of wheels 34, consisting of a pairof wheels 34 on the front of the vehicle 32 and a pair of wheels 34 onthe back of the vehicle 32, are arranged to engage with two adjacentrails of the first set 22 a of rails 22. Similarly, a second set ofwheels 36, consisting of a pair of wheels 36 on each side of the vehicle32, are arranged to engage with two adjacent rails of the second set 22b of rails 22. Each set of wheels 34, 36 can be lifted and lowered, sothat either the first set of wheels 34 or the second set of wheels 36 isengaged with the respective set of rails 22 a, 22 b at any one time.

When the first set of wheels 34 is engaged with the first set of rails22 a and the second set of wheels 36 are lifted clear from the rails 22,the wheels 34 can be driven, by way of a drive mechanism (not shown)housed in the vehicle 32, to move the load handling device 30 in the Xdirection. To move the load handling device 30 in the Y direction, thefirst set of wheels 34 are lifted clear of the rails 22, and the secondset of wheels 36 are lowered into engagement with the second set ofrails 22 a. The drive mechanism can then be used to drive the second setof wheels 36 to achieve movement in the Y direction.

In this way, one or more robotic load handling devices 30 can movearound the top surface of the stacks 12 on the frame structure 14 underthe control of a central picking system (not shown). Each robotic loadhandling device 30 is provided with means for lifting out one or morebins or containers from the stack to access the required products. Inthis way, multiple products can be accessed from multiple locations inthe grid and stacks at any one time.

FIG. 4 shows a typical storage system as described above, the systemhaving a plurality of load handling devices 30 active on the stacks 12.In addition, a robotic service device 50 is positioned on the grid 14.

FIG. 5a shows a roll cage to be used with the first or secondembodiments. The roll cage 40 is designed to hold a plurality of stacks12 of bins 10, typically four in a 2×2 arrangement. The roll cage ismoveable on wheels, for example, such that it may be moved on awarehouse floor and onto and within a vehicle. Furthermore the roll cage40 may slot securely into the frame structure 14 in a way which enablesautomatic loading and unloading of bins 10 by robotic load handlingdevices 30 running on rails 22 on top of the frame structure 14. It willbe appreciated that the roll cage 40 may be moved manually into positionwithin a suitable sized cut-out portion of the storage and retrievalsystem as shown in FIG. 5b . Alternatively, the roll cage 40 may berobotically or automatically moved into position within the stack. Theroll cage 40 is secured in place by suitable securing means (not shown).The securing means may be a mechanical locking device or a magneticlocating device or other suitable positioning and locking means. It willbe appreciated that the securing means may alternatively compriseelectronic positioning and locking means. It will be appreciated thatany suitable form of positioning and securing means may be used thatprevents movement of the roll cage with respect to the stacks 12 of bins10.

The roll cage 40 preferably comprises 4 stacks 12 of bins 10 arranged ina 2×2 cross sectional arrangement. However it will be appreciated thatany number of stacks 12 may be used and arranged accordingly.

FIG. 5b shows the roll cage 40 of FIG. 5a when attached to the framestructure 14 and in the process of receiving a bin 10 by means of arobotic load handling device 30.

It will be appreciated that whilst an area under the horizontal grid ofthe framework structure 14 may be left vacant in order to accept theroll cage 40, it is equally possible for a portion of the horizontalgrid of the frame structure 14 above the stacks 12 of bins 10 to extendbeyond the top surface area of the stacks 12. In this way, a roll cage40 may be moved into position under the extended horizontal grid 15 andadjacent the more permanently positioned stacks 12, as shown in FIG. 6.

In use, an empty roll cage 40 is moved in to position either within theframework of the storage and retrieval system in accordance with thefirst embodiment of the invention, or under the extended portion of thehorizontal grid, in accordance with the second embodiment of theinvention.

The empty roll cage 40 may then be loaded with bins forming deliverycontainers DT comprising items to be delivered to customers, or the binsor containers may comprise inventory items for onward delivery byappropriate vehicle to alternative storage and retrieval systemsco-located at the same location or at remote alternative locations.

When the roll cage 40 is moved in to position under the appropriateportion of grid, a levelling mechanism (not shown) is preferablyemployed to ensure that bins or containers to be inserted in to orremoved from the roll cage 40 are correctly aligned to enable engagementwith winch assembly means within the load handling devices 30. It willbe appreciated that there are many methods of aligning the roll cagebins and containers such that the load handling devices 30 may collectand deposit them accurately as required. The area beneath the portionsof grid on to which the roll cage is moved may be provided with platescapable of movement in X, Y and Z directions, for example. The platesmay be moveable by mechanical means, electromechanical means orhydraulic means. Furthermore, the means for aligning a roll cage may beprovided with locating and securing means such as a releasable latchmechanism to ensure the roll cage is secured once aligned.

FIG. 7 shows a vehicle to be used in association with the thirdembodiment being backed into the frame structure 14. The vehiclecomprises a cab portion 52 and a trailer portion 50. However, it will beappreciated that any form of vehicle may for example, but not limitedto, lorries, vans, vehicles comprising trailer portions and any form ofvehicle capable of carrying containers in bins in such a manner andbeing loaded and unloaded as described herein. In this embodiment, aportion of the frame structure 14 extends beyond the stacks 12 and formsan area of grid supported at a height suitable for such a road goingtrailer 50 to be positioned beneath. The trailer 50 contains stacks 12of bins 10 arranged in such a fashion that positioning the trailer 50beneath the frame structure 14 extension enables robotic load handlingdevices 30 30 to be moved into position above the trailer 50 to removebins 10 from the stacks 12 in the trailer 50. The bins 10 in the trailer50 may be held on roll cages in a fashion similar to that described inthe first and second embodiment above. However, any suitable method ofsecuring the bins 10 in the trailer 50 may be used compatible withremoving the bins 10 using the bots 30.

In this embodiment, the trailer 50 is provided with a retractable roofsuch which can be secured to the building in such a way that the gridstructure on the trailer 50 aligns with an overhead grid, on which therobotic load handlers 30 can travel. This means that the trailer spacewill essentially be inside the building, or at least under a roof withadequate weather protection around it. In this embodiment, the gridpitch on the vehicle and in the storage system is the same.

FIG. 8 shows the trailer 50 of FIG. 7 when located adjacent to the framestructure 14 and in the process of receiving a bin 10 by means of arobotic load handling device 30. It will be appreciated that the trailermay simply be located beneath the frame structure 14 as shown in theFigures. However, in order to ensure alignment of the bins 10 in thetrailer 50 with the grid of the frame structure 14 extension, it may benecessary to attach the trailer 50 to the frame structure 14 by suitablemeans. This may include, but not be limited to mechanical attachmentmeans or mechanical co-operating means located on the trailer and theframe structure 14 supports. Furthermore, the trailer and the framestructure may be provided with location assisting means (not shown) toenable the trailer 50 to be positioned accurately beneath the framestructure 50. The location assisting means may include ultrasonicdistance detecting means or optical positioning means such as a cameraand suitably positioned markers but it will be appreciated that anyother suitable means may be used.

FIG. 9 shows a loading station 80 to be used with a fourth embodiment ofthe invention, situated above a trailer 60 with a different pitch ofhorizontal grid part of the frame structure 62, compared with the framestructure 14 used in the storage and retrieval system, enabling a largernumber of bins 10 to be carried in the trailer 50 than in the equivalentvolume of framework structure in the storage and retrieval system.

In use, in the loading station 80 robotic load handling devices 30 firsttravel on a track 82 perpendicular to the trailer 60. Then the roboticload handling devices change direction and travel on a moveable track84, which can slide along the tracks 82 and 83. Once the robotic loadhandling device 30 has deposited and/or retrieved a bin 10 at theintended positions within the frame structure 62, it continues to atrack 83 at the other end of the trailer 60, and then back to the mainframe structure 14.

The single track running the length of the trailer is capable of slidingmovement rightwardly and leftwardly with respect to the trailer 50 inorder to be positioned above each row of stacks. At both ends, thismoveable track connects to a perpendicular track which enables therobotic load handlers 30 to travel from the fixed grid in the buildingto the moveable track over the trailer in order that they may deposit orretrieve a container and then return to the fixed grid in the building.

FIGS. 10a and 10b show more details of the loading station 80 of FIG. 9with static tracks 82 and 83 and moveable track 84 with the trailer 60in situ and not present for clarity.

FIGS. 11a and 11b show an alternative configuration of loading station81 to that shown in FIGS. 9 and 10 and described in more detail above.The loading station 81 is provided with two moveable tracks 84 a and 84b sliding on static tracks 82 and 83. As can be seen in these figures,multiple robotic load handling devices 30 may simultaneously travel onthese tracks.

FIG. 12a shows a further embodiment of the invention in which the top ofthe trailer 50 of the vehicle comprises a portion of grid structure. Thegrid structure may be covered by a deployable tarpaulin or a retractableroof. In a manner similar to that described above in relation to theroll cage, the trailer 50 of the vehicle is positioned adjacent astorage and retrieval system as described above. It will be appreciatedthat in order to facilitate movement of load handling devices from thestorage and retrieval system, above the stacks 12 of containers and bins10, to the grid forming part of the roof or top of the trailer 50, aninterface is required. The interface 106 is shown in FIG. 12c . Theinterface 106 comprises a portion of substantially horizontal gridstructure located above a loading and unloading bay.

In use, the vehicle carrying containers or bins in stacks or awaitingloading of bins and containers in to the vehicle is located adjacent thestorage and retrieval system such that the interface portion 106provides a transition point from the grid of the storage and retrievalsystem to the grid forming part of the vehicle.

It will be appreciated that such an interface portion requires the twoseparate portions of horizontal grid structure to be substantiallyaligned. In the case of a vehicle or a trailer, the alignment may beachieved in a number of ways. FIG. 12s shows one form of alignmentmechanism 100. The mechanism comprises a plate 100 on to which thevehicle is positioned. The plate is capable of movement at least in theX, Y and Z directions. Furthermore the plate 100 may be capable of atilting movement. The plate may be moved by suitable motorisedmechanical means or via other means such as hydraulics or any othersuitable method.

FIG. 12b shows an alternative method of aligning the vehicle or a part,such as the trailer 50, thereof, with respect to the storage andretrieval system. In this example, stand portions 104 are used to liftthe trailer 50 of the vehicle. The stand portions are capable ofmovement in the X, Y and Z direction. The stand portions may also berotatable about a point to enable a further degree of movement. It willbe appreciated that the stand portions 104 may be independently moveableby suitable moving means and/or may be mounted on a rotatable plate 102such that rotating movement is achieved independently of the movement ofthe stand portions 104.

It will be appreciated that these are examples of alignment mechanismsonly and that the skilled person in the art would be aware ofalternative mechanisms capable of fulfilling the requirement of aligningthe portion of grid forming part of the vehicle and the portion of gridforming part of the framework structure of the storage and retrievalsystem.

In all of the embodiments described above, it will be appreciated thatthe load handling devices 30 may be removing bins 10 from the stacks 12and locating them within the roll cages 40 or trailers 50, 60.Additionally, the load handling devices 30 may be removing bins orcontainers 10 from the roll cages 40 or trailers 50, 60 and locatingthem within the stacks 12. It will further be appreciated that the loadhandling devices 30 may be of different sizes such that bins 10 ofdiffering sizes may be moved and transported by load handling devices 30of appropriate sizes. This may require the grid spacing of the framestructure 14 to be sized accordingly to accommodate such different sizedbots 30 and bins 10.

Furthermore, it will be appreciated that the trailers 50, 60 and rollcages 40 described may be of any size and configuration and are notlimited to the size and configuration shown in the Figures or describedabove. The trailers may be suitable for transportation of ambient,chilled or frozen goods using refrigerated trailers as necessary.Moreover, the stacks 12 of bins 10 may contain any number of bins andare not limited to the number shown in the Figures.

Moreover, it will be appreciated that the storage and retrieval systemmay comprise an object picking system acting in response to customerorders in the case of an on line retailer for example, or it may beoperable to sort, store and pick other objects such as parcels or mailfor collection and delivery.

It will be appreciated that whilst the Figures depict a vehicle of anarticulated form, the invention is equally applicable to any vehiclecapable of having a portion of grid mounted thereon. It will be furtherappreciated that these vehicles may comprise fixed sides or may comprisesides or a flexible or retractable nature. Furthermore, the roof or topof the vehicle may have a portion of grid mounted thereon, or the gridmay form part of the structure of the vehicle.

Although the invention has been illustrated and described with respectto one or more implementations, alterations and/or modifications may bemade to the illustrated examples without departing from the spirit andscope of the appended claims. In particular regard to the variousfunctions performed by the above described components or structures(assemblies, devices, circuits, systems, etc.), the terms (including areference to a “means”) used to describe such components are intended tocorrespond, unless otherwise indicated, to any component or structurewhich performs the specified function of the described component (e.g.,that is functionally equivalent), even though not structurallyequivalent to the disclosed structure which performs the function in theherein illustrated exemplary implementations of the invention. Inaddition, while a particular feature of the invention may have beendisclosed with respect to only one of several implementations, suchfeature may be combined with one or more other features of the otherimplementations as may be desired and advantageous for any given orparticular application. Furthermore, to the extent that the terms“including”, “includes”, “having”, “has”, “with”, or variants thereofare used in either the detailed description and the claims, such termsare intended to be inclusive in a manner similar to the term“comprising.”

1. A system, comprising: a storage workspace including, a firstframework defined by a series of first uprights, the first uprightssupporting a grid of two substantially perpendicular sets of rails, anda plurality of containers for storing objects, wherein the plurality ofcontainers are arranged in stacks, each stack of containers is locatedunderneath a grid space in the workspace; and a grid extension includinga continuation of the two substantially perpendicular sets of rails, andwherein the plurality of containers can be moved by one or more loadhandling devices between the storage workspace and an area beneath thegrid extension.
 2. The system according to claim 1, wherein the storageworkspace includes a second framework extending from the firstframework, the second framework defined by a series of second uprights,the second uprights supporting the grid extension.
 3. The systemaccording to claim 1, wherein the one or more load handling devices arearranged to operate on the grid of rails and are enabled to move alongthe rails to any point on the grid above the workspace or above the areabeneath the grid extension, wherein the load handling devices include,means for removing or replacing at least one of the plurality ofcontainers from the stacks, and means for transporting said at least onecontainer to another position on the grid.
 4. The system according toclaim 1, wherein the one or more load handling devices move between thegrid supported by the first frame work and the grid extension supportedby the second framework.
 5. The system according to claim 1, whereineach of the one or more load handling devices include: a body mounted onwheels; a first set of wheels arranged to engage with at least two railsof the first set of rails, and a second set of wheels being arranged toengage with at least two rails of the second set of rails, the first setof wheels being independently moveable and driveable with respect to thesecond set of wheels such that when in motion only one set of wheels isengaged with the grid at any one time.
 6. The system according to claim1, wherein the area beneath the grid extension is configured forpositioning a vehicle such that containers can be placed or removed fromthe vehicle.
 7. The system according to claim 6, in combination with thevehicle, wherein stacks of containers in the vehicle have a packingdensity greater than a packing density of the stacks in the workspace.8. The system according to claim 6, wherein the grid extension include:at least one set of rails that is moveable, such that load handlingdevices operating on the grid extension may be moved by the movable setof rails to position the load handling device relative to the stacks ofcontainers in the vehicle.
 9. The system according to claim 7, whereinthe vehicle is a refrigerated vehicle.
 10. The system according to claim7, wherein the vehicle is an articulated truck or a van.
 11. The systemaccording to claim 1, wherein a portion of the containers stackspositioned in the workspace are independently moveable with respect toremaining stacks in the workspace.
 12. The system according to claim 11,wherein the moveable portion of stacks may be removed from or replacedin to the workspace by mechanical moving means.
 13. The system accordingto claim 12, wherein the mechanical moving means comprises: a roll cagemounted on wheels maneuverable into position within the workspace bymanual or robotic means.
 14. The system according to claim 12, whereinthe mechanical moving means include one of a roll cage or a dolly or avehicle or a van or an articulated lorry, or a vehicle having a trailer.15. The system according to claim 1, wherein the workspace comprises:containers of more than one size.
 16. A system according to claim 15comprising: at least one load handling device configured for engagingand lifting each size of container.
 17. The system according to claim 7,wherein the vehicle includes a top portion, the top portion including agrid structure configured to engage the grid of the storage workspace.18. The system according to claim 17 comprising: an interface arrangedbetween the top portion grid structure and the grid of the storageworkplace for allowing movement of the load handling devicetherebetween.